#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include "geometry_msgs/Twist.h"
#include <cast/architecture/ManagedComponent.hpp>

int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf_broadcaster");
  static tf::TransformBroadcaster br;
  static tf::TransformBroadcaster br_points;
  ros::Rate loop_rate(50);
while (ros::ok()){
 br.sendTransform(	
      tf::StampedTransform(
        tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)),
        ros::Time::now(),"base_link", "laser"));

 br.sendTransform(tf::StampedTransform(
	          tf::Transform(tf::Quaternion(2.0,0,1.0), tf::Vector3(0.0, 0.0, 1.5)),
		  ros::Time::now(),"base_link", "pointcloud_planar"));
 br.sendTransform(tf::StampedTransform(
	          tf::Transform(tf::Quaternion(2.0,0,1.0), tf::Vector3(0.0, 0.0, 1.5)),
		  ros::Time::now(),"base_link", "pointcloud_filtered"));
  
 loop_rate.sleep();
}
 return 0;
};

